Point-Mass Filter and Cramer-Rao Bound for Terrain-Aided Navigation
1997 (English)In: Proceedings of the 36th IEEE Conference on Decision and Control, 1997, 565-570 vol.1 p.Conference paper (Refereed)
The nonlinear estimation problem in navigation using terrain height variations is studied. The optimal Bayesian solution to the problem is derived. The implementation is grid based, calculating the probability of a set of points on an adaptively dense mesh. The Cramer-Rao bound is derived. Monte Carlo simulations over a commercial map shows that the algorithm, after convergence, reaches the Cramer-Rao lower bound.
Place, publisher, year, edition, pages
1997. 565-570 vol.1 p.
Bayes methods, Aerospace computing, Aircraft navigation, Estimation theory, Filtering theory, Pattern matching, Probability
IdentifiersURN: urn:nbn:se:liu:diva-91582DOI: 10.1109/CDC.1997.650690ISBN: 0-7803-4187-2OAI: oai:DiVA.org:liu-91582DiVA: diva2:625380
36th IEEE Conference on Decision and Control, San Diego, CA, USA, December, 1997